【作者】 张胜；

【导师】 陈金宝；

【作者基本信息】 南京航空航天大学 ， 工程硕士（专业学位）， 2022， 硕士

【摘要】 小天体蕴含研究太阳系的重要信息,可能含有大量稀有矿物质和金属,同时还具有撞击地球的风险。因此,小天体探测已成为国际深空探测的新热点。由于小天体表面引力十分微弱、地形地质特征复杂多样,这为探测器的附着锚固任务带来很大程度的不确定性。目前,国际上只有美、欧、日等以近距飞越、环绕观测、短时接触等方式在小行星、彗星等小天体探测方面取得了一些成果,但尚未真正实现小天体表面稳固附着,其科学研究意义和价值受到限制。基于我国近期的小天体探测任务计划,为了实现探测器在小天体表面的长期附着锚固以进行勘测、采样以及漫游等任务,本文提出了一种结合机械手指技术以及爪刺附着技术的刺爪锚固装置,并对其结构设计、理论计算、仿真分析和地面试验等方面开展了相关研究,本文主要工作如下:(1)针对刺爪锚固装置进行了结构设计:首先,根据小天体表面环境约束条件确定了锚固装置的功能要求和设计指标,其次,通过分析对比国内外已有小天体探测器锚固装置的方案,提出了本文锚固装置的技术方案,最后,对锚固装置的机械结构进行了详细的参数化设计。(2)研究了刺爪锚固装置运动学和力学特性:一方面,基于装置的几何参数构型建立了其运动学模型,并对其附着锚固运动过程进行分析,解出了单指和整机的附着空间。另一方面,建立了刺爪锚固装置稳定锚固的静力学模型,并对影响装置与附着目标之间作用力大小的关键因素进行分析,揭示了刺爪锚固装置的构型参数、附着目标特征参数等对锚固力影响的规律。(3)完成了刺爪锚固装置动力学仿真和有限元分析:一方面,在Adams中分别建立了刺爪锚固装置多体动力学模型和星表非结构性表面简化模型并进行了多种工况附着锚固仿真,验证了装置的锚固性能及其锚固力的可控性。另一方面,基于锚固仿真试验结果对刺爪锚固装置的爪刺单元以及主要承力部件进行了有限元分析,验证了锚固过程中装置的安全性与可靠性。(4)开展了刺爪锚固装置地面附着锚固试验:首先,进行了刺爪锚固装置原理样机的研制和控制系统的调试。其次,搭建了一套地面检测和附着锚固试验平台。最后,完成了不同工况下的附着锚固试验测试,证明了所设计的刺爪锚固装置满足功能和技术指标要求。此外,还研制了一套腿足式着陆装置地面落震试验台,为着陆腿足端安装有刺爪锚固装置的小天体探测器进行落震附着试验提供方案与思路。研究结果表明,本文提出的刺爪锚固装置能够在10s内完成锚固过程且在不同曲率表面提供7.69～183.53N的锚固力,具备快速、可重复锚固以及锚固力可控等功能,极大地提高了探测器在小天体非结构性表面的锚固成功率,为我国未来小天体探测任务提供一种可靠的锚固方案。更多还原

【Abstract】 Small celestial bodies not only contain impaotant imformation for researching the solar system but may be rich in rare minerals and metals.Meanwhile,it has some risk of hitting the earth.Therefore,small celestial body exploration has become a new hotspot of international deep space exploration.Due to the weak gravity,complex terrain and diverse geological characteristics on the surface of small celestial body,it brings a great degree of uncertainty to the attachment and anchoring mission of the probe.At present,only the United States,Europe and Japan have made some achievements in the exploration of small celestial bodies such as asteroids and comets by means of close flyby,orbit observation and short-term contact.However,they all have not achieved solid attachment to the surface of small celestial bodies,which limits the significance and value of its scientific research.Based on Chinese small celestial body exploration mission,in order to realize the long-term attachment and anchoring of the probe on the surface of small celestial body for survey,sampling and roaming,a multi-phalanx microspine gripper combining mechanical finger technology and microspine technology is proposed and this paper carries out relevant research on its structural design,theoretical calculation,simulation analysis and ground test.The main work of this paper is as follows:The structure of the multi-phalanx microspine gripper was designed: First,the functional requirements and design indexes of the anchoring device were determined by the constraints of small celestial bodies’ surface environment.Then,comparing and analysing the existing schemes of probes’ anchoring device at home and abroad,the technical scheme of anchoring device in this paper was proposed.Last,the mechanical structure of the anchoring device was designed in detail by parameterization.The kinematic and mechanical characteristics of the gripper are studied: On the one hand,the kinematic model was established to analyze its movement process based on the geometric characteristics of the gripper.And the attachment space of single finger and whole gripper was obtained.On the other hand,the statics model of the gripper when stably anchoring was set up to analyse key factors affecting the force between the gripper and the attached target,which could reveal the the law of how the gripper’s configuration parameters and the attached target’s characteristic parameters influence the anchoring force.The dynamic simulation and finite element analysis of the gripper are completed: On the one hand,the attachment and anchoring simulation under various working conditions was carried out in Adams.The contact force between multi-phalanx and attached target including anchoring force of the whole gripper is obtained,which could fully verify the anchoring performance of the gripper and the controllability of anchoring force.On the other hand,based on the results of simulation in Adams,finite element analysis was also carried out on the gripper’s microspine and main load-bearing structure to verify the its safety and reliability in the anchoring process.The ground anchorage test of the gripper was carried out: First,the multi-phalanx microspine gripper’s principle prototype was bulit and the debugging of its control system was also completed.Then,a ground detection and anchoring test system was set up.Last,the anchoring tests under different working conditions were completed,which could verify the designed device meets the functional and technical requirements.In addition,a multi-condition drop test bench was designed to provide a method for the dropping and attaching test of the small celestial body probe with a multi-phalanx microspine gripper installed on its landing leg.Research results show that the proposed multi-phalanx microspine gripper can accomplish the anchoring process in 10 s and provide anchoring force about 7.69~183.53 N in different curvature surface.With the functions of fast and repeatable anchoring and controllable anchoring force,the gripper could greatly improve the success rate of the probe’s anchoring for small celestial body’s unstructured surface.Therefore,it could provide a reliable anchoring scheme for Chinese small celestial body exploration mission in the future.更多还原